/* ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi This file is part of ChibiOS. ChibiOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ChibiOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /** * @file lis302dl.h * @brief LIS302DL MEMS interface module header. * * @addtogroup LIS302DL * @ingroup EX_ST * @{ */ #ifndef _LIS302DL_H_ #define _LIS302DL_H_ #include "hal_accelerometer.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @name Version identification * @{ */ /** * @brief LIS302DL driver version string. */ #define EX_LIS302DL_VERSION "1.1.1" /** * @brief LIS302DL driver version major number. */ #define EX_LIS302DL_MAJOR 1 /** * @brief LIS302DL driver version minor number. */ #define EX_LIS302DL_MINOR 1 /** * @brief LIS302DL driver version patch number. */ #define EX_LIS302DL_PATCH 1 /** @} */ /** * @brief LIS302DL accelerometer subsystem characteristics. * @note Sensitivity is expressed as milli-G/LSB whereas * 1 milli-G = 0.00980665 m/s^2. * @note Bias is expressed as milli-G. * * @{ */ #define LIS302DL_ACC_NUMBER_OF_AXES 3U #define LIS302DL_ACC_2G 2.0f #define LIS302DL_ACC_8G 8.0f #define LIS302DL_ACC_SENS_2G 18.0f #define LIS302DL_ACC_SENS_8G 72.0f #define LIS302DL_ACC_BIAS 0.0f /** @} */ /** * @name LIS302DL communication interfaces related bit masks * @{ */ #define LIS302DL_DI_MASK 0xFF #define LIS302DL_DI(n) (1 << n) #define LIS302DL_AD_MASK 0x3F #define LIS302DL_AD(n) (1 << n) #define LIS302DL_MS (1 << 6) #define LIS302DL_RW (1 << 7) /** @} */ /** * @name LIS302DL register addresses * @{ */ #define LIS302DL_AD_WHO_AM_I 0x0F #define LIS302DL_AD_CTRL_REG1 0x20 #define LIS302DL_AD_CTRL_REG2 0x21 #define LIS302DL_AD_CTRL_REG3 0x22 #define LIS302DL_AD_HP_FILER_RESET 0x23 #define LIS302DL_AD_STATUS_REG 0x27 #define LIS302DL_AD_OUT_X 0x29 #define LIS302DL_AD_OUT_Y 0x2B #define LIS302DL_AD_OUT_Z 0x2D #define LIS302DL_AD_FF_WU_CFG_1 0x30 #define LIS302DL_AD_FF_WU_SRC_1 0x31 #define LIS302DL_AD_FF_WU_THS_1 0x32 #define LIS302DL_AD_FF_WU_DURATION_1 0x33 #define LIS302DL_AD_FF_WU_CFG_2 0x34 #define LIS302DL_AD_FF_WU_SRC_2 0x35 #define LIS302DL_AD_FF_WU_THS_2 0x36 #define LIS302DL_AD_FF_WU_DURATION_2 0x37 #define LIS302DL_AD_CLICK_CFG 0x38 #define LIS302DL_AD_CLICK_SRC 0x39 #define LIS302DL_AD_CLICK_THSY_X 0x3B #define LIS302DL_AD_CLICK_THSZ 0x3C #define LIS302DL_AD_CLICK_TIME_LIMIT 0x3D #define LIS302DL_AD_CLICK_LATENCY 0x3E #define LIS302DL_AD_CLICK_WINDOW 0x3F /** @} */ /** * @name LIS302DL_CTRL_REG1 register bits definitions * @{ */ #define LIS302DL_CTRL_REG1_MASK 0xFF #define LIS302DL_CTRL_REG1_XEN (1 << 0) #define LIS302DL_CTRL_REG1_YEN (1 << 1) #define LIS302DL_CTRL_REG1_ZEN (1 << 2) #define LIS302DL_CTRL_REG1_STM (1 << 3) #define LIS302DL_CTRL_REG1_STP (1 << 4) #define LIS302DL_CTRL_REG1_FS_MASK 0x20 #define LIS302DL_CTRL_REG1_FS (1 << 5) #define LIS302DL_CTRL_REG1_PD (1 << 6) #define LIS302DL_CTRL_REG1_DR (1 << 7) /** @} */ /** * @name LIS302DL_CTRL_REG2 register bits definitions * @{ */ #define LIS302DL_CTRL_REG2_MASK 0xDF #define LIS302DL_CTRL_REG2_HPCF1 (1 << 0) #define LIS302DL_CTRL_REG2_HPCF2 (1 << 1) #define LIS302DL_CTRL_REG2_HPFFWU1 (1 << 2) #define LIS302DL_CTRL_REG2_HPFFWU2 (1 << 3) #define LIS302DL_CTRL_REG2_FDS (1 << 4) #define LIS302DL_CTRL_REG2_BOOT (1 << 6) #define LIS302DL_CTRL_REG2_SIM (1 << 7) /** @} */ /** * @name LIS302DL_CTRL_REG3 register bits definitions * @{ */ #define LIS302DL_CTRL_REG3_MASK 0xFF #define LIS302DL_CTRL_REG3_I1CFG0 (1 << 0) #define LIS302DL_CTRL_REG3_I1CFG1 (1 << 1) #define LIS302DL_CTRL_REG3_I1CFG2 (1 << 2) #define LIS302DL_CTRL_REG3_I2CFG0 (1 << 3) #define LIS302DL_CTRL_REG3_I2CFG1 (1 << 4) #define LIS302DL_CTRL_REG3_I2CFG2 (1 << 5) #define LIS302DL_CTRL_REG3_PP_OD (1 << 6) #define LIS302DL_CTRL_REG3_IHL (1 << 7) /** @} */ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief LIS302DL SPI interface switch. * @details If set to @p TRUE the support for SPI is included. * @note The default is @p TRUE. */ #if !defined(LIS302DL_USE_SPI) || defined(__DOXYGEN__) #define LIS302DL_USE_SPI TRUE #endif /** * @brief LIS302DL shared SPI switch. * @details If set to @p TRUE the device acquires SPI bus ownership * on each transaction. * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION. */ #if !defined(LIS302DL_SHARED_SPI) || defined(__DOXYGEN__) #define LIS302DL_SHARED_SPI FALSE #endif /** * @brief LIS302DL I2C interface switch. * @details If set to @p TRUE the support for I2C is included. * @note The default is @p FALSE. */ #if !defined(LIS302DL_USE_I2C) || defined(__DOXYGEN__) #define LIS302DL_USE_I2C FALSE #endif /** * @brief LIS302DL shared I2C switch. * @details If set to @p TRUE the device acquires I2C bus ownership * on each transaction. * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION. */ #if !defined(LIS302DL_SHARED_I2C) || defined(__DOXYGEN__) #define LIS302DL_SHARED_I2C FALSE #endif /** * @brief LIS302DL advanced configurations switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ #if !defined(LIS302DL_USE_ADVANCED) || defined(__DOXYGEN__) #define LIS302DL_USE_ADVANCED FALSE #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(LIS302DL_USE_SPI ^ LIS302DL_USE_I2C) #error "LIS302DL_USE_SPI and LIS302DL_USE_I2C cannot be both true or both false" #endif #if LIS302DL_USE_SPI && !HAL_USE_SPI #error "LIS302DL_USE_SPI requires HAL_USE_SPI" #endif #if LIS302DL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "LIS302DL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif #if LIS302DL_USE_I2C && !HAL_USE_I2C #error "LIS302DL_USE_I2C requires HAL_USE_I2C" #endif #if LIS302DL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION #error "LIS302DL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /** * @todo Add support for LIS302DL over I2C. */ #if LIS302DL_USE_I2C #error "LIS302DL over I2C still not supported" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LIS302DL data structures and types * @{ */ /** * @brief Structure representing a LIS302DL driver. */ typedef struct LIS302DLDriver LIS302DLDriver; /** * @brief LIS302DL full scale. */ typedef enum { LIS302DL_ACC_FS_2G = 0x00, /**< Full scale ±2g. */ LIS302DL_ACC_FS_8G = 0x20 /**< Full scale ±8g. */ }lis302dl_acc_fs_t; /** * @brief LIS302DL output data rate and bandwidth. */ typedef enum { LIS302DL_ACC_ODR_100HZ = 0x00, /**< ODR 100 Hz. */ LIS302DL_ACC_ODR_400HZ = 0x80 /**< ODR 400 Hz. */ }lis302dl_acc_odr_t; /** * @brief LIS302DL high pass filtering. */ typedef enum { LIS302DL_ACC_HP_DISABLED = 0x00, /**< HP bypassed. */ LIS302DL_ACC_HP_0 = 0x10, /**< HP cutoff 2Hz (ODR 100Hz) or 8Hz */ LIS302DL_ACC_HP_1 = 0x11, /**< HP cutoff 1Hz or 4Hz */ LIS302DL_ACC_HP_2 = 0x12, /**< HP cutoff 0.5Hz or 2Hz */ LIS302DL_ACC_HP_3 = 0x13 /**< HP cutoff 0.25Hz or 1Hz */ }lis302dl_acc_hp_t; /** * @brief Driver state machine possible states. */ typedef enum { LIS302DL_UNINIT = 0, /**< Not initialized. */ LIS302DL_STOP = 1, /**< Stopped. */ LIS302DL_READY = 2, /**< Ready. */ } lis302dl_state_t; /** * @brief LIS302DL configuration structure. */ typedef struct { #if (LIS302DL_USE_SPI) || defined(__DOXYGEN__) /** * @brief SPI driver associated to this LIS302DL. */ SPIDriver *spip; /** * @brief SPI configuration associated to this LIS302DL. */ const SPIConfig *spicfg; #endif /* LIS302DL_USE_SPI */ #if (LIS302DL_USE_I2C) || defined(__DOXYGEN__) /** * @brief I2C driver associated to this LIS302DL. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this LIS302DL. */ const I2CConfig *i2ccfg; #endif /* LIS302DL_USE_I2C */ /** * @brief LIS302DL accelerometer subsystem initial sensitivity. */ float *accsensitivity; /** * @brief LIS302DL accelerometer subsystem initial bias. */ float *accbias; /** * @brief LIS302DL accelerometer subsystem initial full scale. */ lis302dl_acc_fs_t accfullscale; /** * @brief LIS302DL output data rate selection. */ lis302dl_acc_odr_t accoutputdatarate; #if LIS302DL_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LIS302DL high pass filtering. */ lis302dl_acc_hp_t acchighpass; #endif } LIS302DLConfig; /** * @brief @p LIS302DL specific methods. */ #define _lis302dl_methods_alone \ /* Change full scale value of LIS302DL .*/ \ msg_t (*set_full_scale)(LIS302DLDriver *devp, lis302dl_acc_fs_t fs); /** * @brief @p LIS302DL specific methods with inherited ones. */ #define _lis302dl_methods \ _base_object_methods \ _lis302dl_methods_alone /** * @extends BaseObjectVMT * * @brief @p LIS302DL accelerometer virtual methods table. */ struct LIS302DLVMT { _lis302dl_methods }; /** * @brief @p LIS302DLDriver specific data. */ #define _lis302dl_data \ /* Driver state.*/ \ lis302dl_state_t state; \ /* Current configuration data.*/ \ const LIS302DLConfig *config; \ /* Accelerometer subsystem axes number.*/ \ size_t accaxes; \ /* Current sensitivity.*/ \ float accsensitivity[LIS302DL_ACC_NUMBER_OF_AXES]; \ /* Bias data.*/ \ int32_t accbias[LIS302DL_ACC_NUMBER_OF_AXES]; \ /* Current full scale value.*/ \ float accfullscale; /** * @brief LIS302DL 3-axis accelerometer class. */ struct LIS302DLDriver { /** @brief Virtual Methods Table.*/ const struct LIS302DLVMT *vmt; /** @brief Base accelerometer interface.*/ BaseAccelerometer acc_if; _lis302dl_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Return the number of axes of the BaseAccelerometer. * * @param[in] devp pointer to @p LIS302DLDriver. * * @return the number of axes. * * @api */ #define lis302dlAccelerometerGetAxesNumber(devp) \ accelerometerGetAxesNumber(&((devp)->acc_if)) /** * @brief Retrieves raw data from the BaseAccelerometer. * @note This data is retrieved from MEMS register without any algebraical * manipulation. * @note The axes array must be at least the same size of the * BaseAccelerometer axes number. * * @param[in] devp pointer to @p LIS302DLDriver. * @param[out] axes a buffer which would be filled with raw data. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET if one or more I2C errors occurred, the errors can * be retrieved using @p i2cGetErrors(). * @retval MSG_TIMEOUT if a timeout occurred before operation end. * * @api */ #define lis302dlAccelerometerReadRaw(devp, axes) \ accelerometerReadRaw(&((devp)->acc_if), axes) /** * @brief Retrieves cooked data from the BaseAccelerometer. * @note This data is manipulated according to the formula * cooked = (raw * sensitivity) - bias. * @note Final data is expressed as milli-G. * @note The axes array must be at least the same size of the * BaseAccelerometer axes number. * * @param[in] devp pointer to @p LIS302DLDriver. * @param[out] axes a buffer which would be filled with cooked data. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET if one or more I2C errors occurred, the errors can * be retrieved using @p i2cGetErrors(). * @retval MSG_TIMEOUT if a timeout occurred before operation end. * * @api */ #define lis302dlAccelerometerReadCooked(devp, axes) \ accelerometerReadCooked(&((devp)->acc_if), axes) /** * @brief Set bias values for the BaseAccelerometer. * @note Bias must be expressed as milli-G. * @note The bias buffer must be at least the same size of the * BaseAccelerometer axes number. * * @param[in] devp pointer to @p LIS302DLDriver. * @param[in] bp a buffer which contains biases. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lis302dlAccelerometerSetBias(devp, bp) \ accelerometerSetBias(&((devp)->acc_if), bp) /** * @brief Reset bias values for the BaseAccelerometer. * @note Default biases value are obtained from device datasheet when * available otherwise they are considered zero. * * @param[in] devp pointer to @p LIS302DLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lis302dlAccelerometerResetBias(devp) \ accelerometerResetBias(&((devp)->acc_if)) /** * @brief Set sensitivity values for the BaseAccelerometer. * @note Sensitivity must be expressed as milli-G/LSB. * @note The sensitivity buffer must be at least the same size of the * BaseAccelerometer axes number. * * @param[in] devp pointer to @p LIS302DLDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lis302dlAccelerometerSetSensitivity(devp, sp) \ accelerometerSetSensitivity(&((devp)->acc_if), sp) /** * @brief Reset sensitivity values for the BaseAccelerometer. * @note Default sensitivities value are obtained from device datasheet. * * @param[in] devp pointer to @p LIS302DLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lis302dlAccelerometerResetSensitivity(devp) \ accelerometerResetSensitivity(&((devp)->acc_if)) /** * @brief Changes the LIS302DLDriver accelerometer fullscale value. * @note This function also rescale sensitivities and biases based on * previous and next fullscale value. * @note A recalibration is highly suggested after calling this function. * * @param[in] devp pointer to @p LIS302DLDriver. * @param[in] fs new fullscale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lis302dlAccelerometerSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void lis302dlObjectInit(LIS302DLDriver *devp); void lis302dlStart(LIS302DLDriver *devp, const LIS302DLConfig *config); void lis302dlStop(LIS302DLDriver *devp); #ifdef __cplusplus } #endif #endif /* _LIS302DL_H_ */ /** @} */